•  
  •  
 

Turkish Journal of Electrical Engineering and Computer Sciences

Author ORCID Identifier

MAWLOUD AICHAOUI: 0000-0001-8919-5462

AMEUR IKHLEF: 0000-0002-5111-0547

DOI

10.55730/1300-0632.4106

Abstract

This paper proposes a novel cascade impedance control architecture designed for the upper limb exoskeleton rehabilitation robot. The proposed architecture comprises two parts: Firstly, the impedance reference trajectory is shaped from the desired trajectory utilizing the desired impedance model and feedback contact torques. The second part of the proposed controller is an adaptive backstepping control, responsible for tracking the generated impedance reference trajectory. Notably, the proposed adaptive backstepping impedance controller is non-model-based control approach, eliminating the need for the robot's model. Furthermore, a genetic algorithm is employed as an offline tuning method for the inner position loop controller, namely the adaptive backstepping controller. This approach outperforms the conventional impedance controller without relying on the model of the robot, making it more robust against model uncertainties and unknown parameters. Furthermore, to mitigate undesired compliance resulting from the permanent attachment between the robot and the patient's limb, we introduce an adaptive gain. This gain dynamically adjusts the priority between compliance and tracking, ensuring that the robot complies only when necessary.

Keywords

Adaptive control, backstepping control, exoskeleton, genetic algorithm, impedance control, rehabilitation robot.

First Page

849

Last Page

866

Creative Commons License

Creative Commons Attribution 4.0 International License
This work is licensed under a Creative Commons Attribution 4.0 International License.

Download

Share

COinS